Roadmap-based motion planning in dynamic environments

摘要: In this paper a new method is presented for motion planning in dynamic environments, that is, finding trajectory robot scene consisting of both static and dynamic, moving obstacles. We propose practical algorithm based on roadmap created the part scene. On an approximate time-optimal from start to goal configuration computed, such does not collide with any obstacle. The found by performing search shortest path implicit grid state-time space. approach applicable type spaces dimension, motions obstacles are unconstrained, as long they known beforehand. has been implemented free-flying three-dimensional workspace experiments show achieves interactive performance complex environments.